{"id":"https://openalex.org/W7083171480","doi":"https://doi.org/10.1109/lra.2025.3614019","title":"PaGDeSA: An Automated Generative Design of Multimodal Soft Pneumatic Actuators","display_name":"PaGDeSA: An Automated Generative Design of Multimodal Soft Pneumatic Actuators","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7083171480","doi":"https://doi.org/10.1109/lra.2025.3614019"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3614019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3614019","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Saswath Ghosh","orcid":null},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Saswath Ghosh","raw_affiliation_strings":["Department of Applied Mechanics, Indian Institute of Technology Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics, Indian Institute of Technology Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rahul Maurya","orcid":null},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rahul Maurya","raw_affiliation_strings":["Department of Applied Mechanics, Indian Institute of Technology Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics, Indian Institute of Technology Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":null,"display_name":"Sitikantha Roy","orcid":null},"institutions":[{"id":"https://openalex.org/I2799736751","display_name":"Indian Law Institute","ror":"https://ror.org/02bbvzp74","country_code":"IN","type":"education","lineage":["https://openalex.org/I2799736751"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sitikantha Roy","raw_affiliation_strings":["Department of Applied Mechanics and the Yardi School of Artificial Intelligence (Yardi ScAI), Indian Institute of Technology Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics and the Yardi School of Artificial Intelligence (Yardi ScAI), Indian Institute of Technology Delhi, India","institution_ids":["https://openalex.org/I2799736751"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45421648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.20579999685287476,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.20579999685287476,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13593","display_name":"Historical and Archaeological Studies","score":0.15719999372959137,"subfield":{"id":"https://openalex.org/subfields/1202","display_name":"History"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13621","display_name":"Ancient and Medieval Archaeology Studies","score":0.13040000200271606,"subfield":{"id":"https://openalex.org/subfields/1204","display_name":"Archeology"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7882000207901001},{"id":"https://openalex.org/keywords/generative-design","display_name":"Generative Design","score":0.5235999822616577},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.49880000948905945},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44369998574256897},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4343999922275543},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.4287000000476837},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4043000042438507},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.40310001373291016},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.40299999713897705}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7882000207901001},{"id":"https://openalex.org/C184408114","wikidata":"https://www.wikidata.org/wiki/Q1502022","display_name":"Generative Design","level":3,"score":0.5235999822616577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5163000226020813},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5138999819755554},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.49880000948905945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46369999647140503},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.4287000000476837},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41819998621940613},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4043000042438507},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.40310001373291016},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.40299999713897705},{"id":"https://openalex.org/C62064638","wikidata":"https://www.wikidata.org/wiki/Q553878","display_name":"Design for manufacturability","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C2778924833","wikidata":"https://www.wikidata.org/wiki/Q7064603","display_name":"Novelty detection","level":3,"score":0.3495999872684479},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34150001406669617},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.3325999975204468},{"id":"https://openalex.org/C2778370241","wikidata":"https://www.wikidata.org/wiki/Q18386598","display_name":"Parametric design","level":3,"score":0.3206999897956848},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C177454536","wikidata":"https://www.wikidata.org/wiki/Q578290","display_name":"Emphasis (telecommunications)","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C138852830","wikidata":"https://www.wikidata.org/wiki/Q2292993","display_name":"Design methods","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C53016008","wikidata":"https://www.wikidata.org/wiki/Q620167","display_name":"Front and back ends","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3614019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3614019","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8323541283607483,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,188],"recent":[1],"advancements":[2],"in":[3],"machine":[4],"learning":[5,27],"techniques":[6],"have":[7],"fostered":[8],"a":[9,38,62,65,170],"growing":[10],"emphasis":[11],"on":[12,156],"data-driven":[13,48],"design.":[14,167],"In":[15,168],"soft":[16,58,69,196],"robotics,":[17],"this":[18],"often":[19],"involves":[20],"optimizing":[21],"for":[22,157],"specific":[23],"tasks":[24],"rather":[25],"than":[26],"the":[28,34,52,82,87,105,127,132,136,150,162,165,173,179,185,192,200,206],"design":[29,53,89,153,183,193],"space.":[30],"Motivated":[31],"by":[32,198],"this,":[33],"present":[35],"study":[36],"proposes":[37],"Performance-augmented":[39],"Generative":[40],"Design":[41],"of":[42,68,90,131,138,164,172,194,202,209],"Soft":[43],"Actuators":[44],"(PaGDeSA),":[45],"an":[46,144],"automated":[47,145],"framework":[49,189],"that":[50,109],"explores":[51],"space":[54],"to":[55,80,103,114,125,160],"generate":[56],"new":[57,195],"actuator":[59,112,166],"designs.":[60,134],"As":[61],"first":[63],"step,":[64],"synthetic":[66],"dataset":[67],"Pneumatic":[70],"Network":[71],"(Pneu-net)":[72],"actuators":[73,100,204],"has":[74],"been":[75],"created":[76],"using":[77,143],"data":[78],"augmentation":[79],"train":[81,104],"generative":[83],"model.":[84],"Following":[85],"on,":[86],"parametric":[88],"two":[91],"different":[92],"unimodal":[93],"(namely,":[94],"pure":[95],"bending":[96,174],"and":[97,117,129,181],"twisting":[98],"type)":[99],"is":[101,123,141,154],"used":[102,124],"Gaussian":[106],"mixture":[107],"model":[108],"generates":[110],"novel":[111],"designs":[113,140],"perform":[115],"in-plane":[116],"out-of-plane":[118],"deformations.":[119],"A":[120],"distance-based":[121],"metric":[122],"describe":[126],"novelty":[128],"diversity":[130],"generated":[133,152,210],"Later,":[135],"feasibility":[137],"these":[139],"ensured":[142],"finite":[146],"element":[147],"simulation.":[148],"Further,":[149],"feasible":[151],"passed":[155],"digital":[158],"fabrication":[159],"assure":[161],"manufacturability":[163],"addition,":[169],"comparison":[171],"angle":[175],"(quality":[176],"metric)":[177],"between":[178],"simulated":[180],"real":[182],"strengthens":[184],"proposed":[186],"approach.":[187],"could":[190],"accelerate":[191],"robots":[197],"enabling":[199],"selection":[201],"appropriate":[203],"from":[205],"diverse":[207],"set":[208],"multimodal":[211],"actuators.":[212]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
